Move Bullet 2.x demos in a single demo 'AllBullet2Demos', for now only BasicDemo and FeatherstoneDemo is implemented.
This commit is contained in:
erwincoumans
130
Demos3/bullet2/BasicDemo/BasicDemo.cpp
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130
Demos3/bullet2/BasicDemo/BasicDemo.cpp
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#include "BasicDemo.h"
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#include "OpenGLWindow/SimpleOpenGL3App.h"
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#include "btBulletDynamicsCommon.h"
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#include "Bullet3Common/b3Vector3.h"
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#define ARRAY_SIZE_X 5
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#define ARRAY_SIZE_Y 5
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#define ARRAY_SIZE_Z 5
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BasicDemo::BasicDemo(SimpleOpenGL3App* app)
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:Bullet2RigidBodyDemo(app)
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{
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}
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BasicDemo::~BasicDemo()
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{
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}
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void BasicDemo::initPhysics()
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{
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Bullet2RigidBodyDemo::initPhysics();
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int curColor=0;
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//create ground
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int cubeShapeId = m_glApp->registerCubeShape();
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float pos[]={0,0,0};
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float orn[]={0,0,0,1};
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{
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float color[]={0.3,0.3,1,1};
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float halfExtents[]={50,50,50,1};
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0,-50,0));
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m_glApp->m_instancingRenderer->registerGraphicsInstance(cubeShapeId,groundTransform.getOrigin(),groundTransform.getRotation(),color,halfExtents);
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btBoxShape* groundShape = new btBoxShape(btVector3(btScalar(halfExtents[0]),btScalar(halfExtents[1]),btScalar(halfExtents[2])));
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//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
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{
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btScalar mass(0.);
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//rigidbody is dynamic if and only if mass is non zero, otherwise static
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0,0,0);
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if (isDynamic)
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groundShape->calculateLocalInertia(mass,localInertia);
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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//add the body to the dynamics world
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m_dynamicsWorld->addRigidBody(body);
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}
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}
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{
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float halfExtents[]={1,1,1,1};
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b3Vector4 colors[4] =
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{
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b3MakeVector4(1,0,0,1),
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b3MakeVector4(0,1,0,1),
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b3MakeVector4(0,1,1,1),
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b3MakeVector4(1,1,0,1),
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};
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btTransform startTransform;
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startTransform.setIdentity();
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btScalar mass = 1.f;
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btVector3 localInertia;
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btBoxShape* colShape = new btBoxShape(btVector3(halfExtents[0],halfExtents[1],halfExtents[2]));
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colShape ->calculateLocalInertia(mass,localInertia);
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for (int k=0;k<ARRAY_SIZE_Y;k++)
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{
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for (int i=0;i<ARRAY_SIZE_X;i++)
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{
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for(int j = 0;j<ARRAY_SIZE_Z;j++)
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{
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b3Vector4 color = colors[curColor];
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curColor++;
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curColor&=3;
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startTransform.setOrigin(btVector3(
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btScalar(2.0*i),
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btScalar(20+2.0*k),
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btScalar(2.0*j)));
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m_glApp->m_instancingRenderer->registerGraphicsInstance(cubeShapeId,startTransform.getOrigin(),startTransform.getRotation(),color,halfExtents);
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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m_dynamicsWorld->addRigidBody(body);
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}
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}
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}
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}
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m_glApp->m_instancingRenderer->writeTransforms();
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}
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void BasicDemo::exitPhysics()
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{
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Bullet2RigidBodyDemo::exitPhysics();
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}
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void BasicDemo::renderScene()
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{
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//sync graphics -> physics world transforms
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{
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for (int i=0;i<m_dynamicsWorld->getNumCollisionObjects();i++)
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{
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btVector3 pos = m_dynamicsWorld->getCollisionObjectArray()[i]->getWorldTransform().getOrigin();
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btQuaternion orn = m_dynamicsWorld->getCollisionObjectArray()[i]->getWorldTransform().getRotation();
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m_glApp->m_instancingRenderer->writeSingleInstanceTransformToCPU(pos,orn,i);
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}
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m_glApp->m_instancingRenderer->writeTransforms();
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}
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m_glApp->m_instancingRenderer->renderScene();
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}
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void BasicDemo::stepSimulation(float dt)
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{
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m_dynamicsWorld->stepSimulation(dt);
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}
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29
Demos3/bullet2/BasicDemo/BasicDemo.h
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29
Demos3/bullet2/BasicDemo/BasicDemo.h
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@@ -0,0 +1,29 @@
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#ifndef BASIC_DEMO_H
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#define BASIC_DEMO_H
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#include "LinearMath/btVector3.h"
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#include "Bullet2RigidBodyDemo.h"
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class BasicDemo : public Bullet2RigidBodyDemo
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{
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public:
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static BulletDemoInterface* MyCreateFunc(SimpleOpenGL3App* app)
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{
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return new BasicDemo(app);
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}
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BasicDemo(SimpleOpenGL3App* app);
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virtual ~BasicDemo();
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void initPhysics();
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void exitPhysics();
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void renderScene();
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void stepSimulation(float dt);
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};
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#endif //BASIC_DEMO_H
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@@ -1,455 +0,0 @@
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#define ARRAY_SIZE_X 5
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#define ARRAY_SIZE_Y 5
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#define ARRAY_SIZE_Z 5
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#include "OpenGLWindow/SimpleOpenGL3App.h"
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#include "Bullet3Common/b3Vector3.h"
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#include "assert.h"
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#include <stdio.h>
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#include "btBulletDynamicsCommon.h"
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class Bullet2RigidBodyDemo
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{
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protected:
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btDiscreteDynamicsWorld* m_dynamicsWorld;
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btCollisionDispatcher* m_dispatcher;
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btBroadphaseInterface* m_bp;
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btCollisionConfiguration* m_config;
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btConstraintSolver* m_solver;
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public:
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Bullet2RigidBodyDemo()
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{
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m_config = 0;
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m_dispatcher = 0;
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m_bp = 0;
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m_solver = 0;
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m_dynamicsWorld = 0;
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}
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virtual void initPhysics()
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{
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m_config = new btDefaultCollisionConfiguration;
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m_dispatcher = new btCollisionDispatcher(m_config);
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m_bp = new btDbvtBroadphase();
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m_solver = new btSequentialImpulseConstraintSolver();
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m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_bp,m_solver,m_config);
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}
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virtual void exitPhysics()
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{
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delete m_dynamicsWorld;
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m_dynamicsWorld=0;
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delete m_solver;
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m_solver=0;
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delete m_bp;
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m_bp=0;
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delete m_dispatcher;
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m_dispatcher=0;
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delete m_config;
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m_config=0;
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}
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virtual ~Bullet2RigidBodyDemo()
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{
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btAssert(m_config == 0);
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btAssert(m_dispatcher == 0);
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btAssert(m_bp == 0);
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btAssert(m_solver == 0);
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btAssert(m_dynamicsWorld == 0);
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}
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};
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class BasicDemo : public Bullet2RigidBodyDemo
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{
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btRigidBody* m_pickedBody;
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btTypedConstraint* m_pickedConstraint;
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btVector3 m_oldPickingPos;
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btVector3 m_hitPos;
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btScalar m_oldPickingDist;
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public:
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SimpleOpenGL3App* m_glApp;
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BasicDemo(SimpleOpenGL3App* app)
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:m_glApp(app),
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m_pickedBody(0),
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m_pickedConstraint(0)
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{
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}
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virtual ~BasicDemo()
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{
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}
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void initPhysics()
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{
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Bullet2RigidBodyDemo::initPhysics();
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//create ground
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int cubeShapeId = m_glApp->registerCubeShape();
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float pos[]={0,0,0};
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float orn[]={0,0,0,1};
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{
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float color[]={0.3,0.3,1,1};
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float halfExtents[]={50,50,50,1};
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0,-50,0));
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m_glApp->m_instancingRenderer->registerGraphicsInstance(cubeShapeId,groundTransform.getOrigin(),groundTransform.getRotation(),color,halfExtents);
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btBoxShape* groundShape = new btBoxShape(btVector3(btScalar(halfExtents[0]),btScalar(halfExtents[1]),btScalar(halfExtents[2])));
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//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
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{
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btScalar mass(0.);
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//rigidbody is dynamic if and only if mass is non zero, otherwise static
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0,0,0);
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if (isDynamic)
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groundShape->calculateLocalInertia(mass,localInertia);
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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//add the body to the dynamics world
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m_dynamicsWorld->addRigidBody(body);
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}
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}
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{
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float halfExtents[]={1,1,1,1};
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b3Vector4 colors[4] =
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{
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b3MakeVector4(1,0,0,1),
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b3MakeVector4(0,1,0,1),
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b3MakeVector4(0,1,1,1),
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b3MakeVector4(1,1,0,1),
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};
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btTransform startTransform;
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startTransform.setIdentity();
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btScalar mass = 1.f;
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btVector3 localInertia;
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btBoxShape* colShape = new btBoxShape(btVector3(halfExtents[0],halfExtents[1],halfExtents[2]));
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colShape ->calculateLocalInertia(mass,localInertia);
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for (int k=0;k<ARRAY_SIZE_Y;k++)
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{
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for (int i=0;i<ARRAY_SIZE_X;i++)
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{
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for(int j = 0;j<ARRAY_SIZE_Z;j++)
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{
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static int curColor=0;
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b3Vector4 color = colors[curColor];
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curColor++;
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curColor&=3;
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startTransform.setOrigin(btVector3(
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btScalar(2.0*i),
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btScalar(20+2.0*k),
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btScalar(2.0*j)));
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m_glApp->m_instancingRenderer->registerGraphicsInstance(cubeShapeId,startTransform.getOrigin(),startTransform.getRotation(),color,halfExtents);
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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m_dynamicsWorld->addRigidBody(body);
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}
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}
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}
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}
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m_glApp->m_instancingRenderer->writeTransforms();
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}
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void exitPhysics()
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{
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Bullet2RigidBodyDemo::exitPhysics();
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}
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void drawObjects()
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{
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//sync graphics -> physics world transforms
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{
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for (int i=0;i<m_dynamicsWorld->getNumCollisionObjects();i++)
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{
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btVector3 pos = m_dynamicsWorld->getCollisionObjectArray()[i]->getWorldTransform().getOrigin();
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btQuaternion orn = m_dynamicsWorld->getCollisionObjectArray()[i]->getWorldTransform().getRotation();
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m_glApp->m_instancingRenderer->writeSingleInstanceTransformToCPU(pos,orn,i);
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}
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m_glApp->m_instancingRenderer->writeTransforms();
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}
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m_glApp->m_instancingRenderer->renderScene();
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}
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btVector3 getRayTo(int x,int y)
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{
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if (!m_glApp->m_instancingRenderer)
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{
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btAssert(0);
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return btVector3(0,0,0);
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}
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float top = 1.f;
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float bottom = -1.f;
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float nearPlane = 1.f;
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float tanFov = (top-bottom)*0.5f / nearPlane;
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float fov = b3Scalar(2.0) * b3Atan(tanFov);
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btVector3 camPos,camTarget;
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m_glApp->m_instancingRenderer->getCameraPosition(camPos);
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m_glApp->m_instancingRenderer->getCameraTargetPosition(camTarget);
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btVector3 rayFrom = camPos;
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btVector3 rayForward = (camTarget-camPos);
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rayForward.normalize();
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float farPlane = 10000.f;
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rayForward*= farPlane;
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btVector3 rightOffset;
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btVector3 m_cameraUp=btVector3(0,1,0);
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btVector3 vertical = m_cameraUp;
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btVector3 hor;
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hor = rayForward.cross(vertical);
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hor.normalize();
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vertical = hor.cross(rayForward);
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vertical.normalize();
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float tanfov = tanf(0.5f*fov);
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hor *= 2.f * farPlane * tanfov;
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vertical *= 2.f * farPlane * tanfov;
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b3Scalar aspect;
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float width = m_glApp->m_instancingRenderer->getScreenWidth();
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float height = m_glApp->m_instancingRenderer->getScreenHeight();
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aspect = width / height;
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hor*=aspect;
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btVector3 rayToCenter = rayFrom + rayForward;
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btVector3 dHor = hor * 1.f/width;
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btVector3 dVert = vertical * 1.f/height;
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btVector3 rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical;
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rayTo += btScalar(x) * dHor;
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rayTo -= btScalar(y) * dVert;
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return rayTo;
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}
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bool mouseMoveCallback(float x,float y)
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{
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// if (m_data->m_altPressed!=0 || m_data->m_controlPressed!=0)
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// return false;
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if (m_pickedBody && m_pickedConstraint)
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{
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btPoint2PointConstraint* pickCon = static_cast<btPoint2PointConstraint*>(m_pickedConstraint);
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if (pickCon)
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{
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//keep it at the same picking distance
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btVector3 newRayTo = getRayTo(x,y);
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btVector3 rayFrom;
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btVector3 oldPivotInB = pickCon->getPivotInB();
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btVector3 newPivotB;
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m_glApp->m_instancingRenderer->getCameraPosition(rayFrom);
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btVector3 dir = newRayTo-rayFrom;
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dir.normalize();
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dir *= m_oldPickingDist;
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newPivotB = rayFrom + dir;
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pickCon->setPivotB(newPivotB);
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}
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}
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return false;
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}
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bool mouseButtonCallback(int button, int state, float x, float y)
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{
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if (state==1)
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{
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if(button==0)// && (m_data->m_altPressed==0 && m_data->m_controlPressed==0))
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{
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btVector3 camPos;
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m_glApp->m_instancingRenderer->getCameraPosition(camPos);
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|
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btVector3 rayFrom = camPos;
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btVector3 rayTo = getRayTo(x,y);
|
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btCollisionWorld::ClosestRayResultCallback rayCallback(rayFrom,rayTo);
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m_dynamicsWorld->rayTest(rayFrom,rayTo,rayCallback);
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if (rayCallback.hasHit())
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{
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btVector3 pickPos = rayCallback.m_hitPointWorld;
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btRigidBody* body = (btRigidBody*)btRigidBody::upcast(rayCallback.m_collisionObject);
|
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if (body)
|
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{
|
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//other exclusions?
|
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if (!(body->isStaticObject() || body->isKinematicObject()))
|
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{
|
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m_pickedBody = body;
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m_pickedBody->setActivationState(DISABLE_DEACTIVATION);
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//printf("pickPos=%f,%f,%f\n",pickPos.getX(),pickPos.getY(),pickPos.getZ());
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btVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos;
|
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btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*body,localPivot);
|
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m_dynamicsWorld->addConstraint(p2p,true);
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m_pickedConstraint = p2p;
|
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btScalar mousePickClamping = 30.f;
|
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p2p->m_setting.m_impulseClamp = mousePickClamping;
|
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//very weak constraint for picking
|
||||
p2p->m_setting.m_tau = 0.001f;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// pickObject(pickPos, rayCallback.m_collisionObject);
|
||||
m_oldPickingPos = rayTo;
|
||||
m_hitPos = pickPos;
|
||||
m_oldPickingDist = (pickPos-rayFrom).length();
|
||||
// printf("hit !\n");
|
||||
//add p2p
|
||||
}
|
||||
|
||||
}
|
||||
} else
|
||||
{
|
||||
if (button==0)
|
||||
{
|
||||
if (m_pickedConstraint)
|
||||
{
|
||||
m_dynamicsWorld->removeConstraint(m_pickedConstraint);
|
||||
delete m_pickedConstraint;
|
||||
m_pickedConstraint=0;
|
||||
m_pickedBody = 0;
|
||||
}
|
||||
//remove p2p
|
||||
}
|
||||
}
|
||||
|
||||
//printf("button=%d, state=%d\n",button,state);
|
||||
return false;
|
||||
}
|
||||
|
||||
void stepSimulation()
|
||||
{
|
||||
m_dynamicsWorld->stepSimulation(1./60,0);
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
|
||||
BasicDemo* sDemo = 0;
|
||||
|
||||
static void MyMouseMoveCallback( float x, float y)
|
||||
{
|
||||
bool handled = false;
|
||||
if (sDemo)
|
||||
handled = sDemo->mouseMoveCallback(x,y);
|
||||
if (!handled)
|
||||
b3DefaultMouseMoveCallback(x,y);
|
||||
}
|
||||
static void MyMouseButtonCallback(int button, int state, float x, float y)
|
||||
{
|
||||
bool handled = false;
|
||||
//try picking first
|
||||
if (sDemo)
|
||||
handled = sDemo->mouseButtonCallback(button,state,x,y);
|
||||
|
||||
if (!handled)
|
||||
b3DefaultMouseButtonCallback(button,state,x,y);
|
||||
}
|
||||
|
||||
void MyKeyboardCallback(int key, int state)
|
||||
{
|
||||
|
||||
if (key==B3G_ESCAPE && sDemo->m_glApp->m_window)
|
||||
{
|
||||
sDemo->m_glApp->m_window->setRequestExit();
|
||||
}
|
||||
if (key=='w')
|
||||
{
|
||||
glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
|
||||
}
|
||||
if (key=='s')
|
||||
{
|
||||
glPolygonMode( GL_FRONT_AND_BACK, GL_FILL);
|
||||
}
|
||||
|
||||
// if (sDemo)
|
||||
// sDemo->keyboardCallback(key,state);
|
||||
|
||||
b3DefaultKeyboardCallback(key,state);
|
||||
}
|
||||
|
||||
|
||||
int main(int argc, char* argv[])
|
||||
{
|
||||
|
||||
float dt = 1./120.f;
|
||||
#ifdef BT_DEBUG
|
||||
char* name = "Bullet 2 CPU BasicDemo (Debug build=SLOW)";
|
||||
#else
|
||||
char* name = "Bullet 2 CPU BasicDemo";
|
||||
#endif
|
||||
|
||||
|
||||
SimpleOpenGL3App* app = new SimpleOpenGL3App(name,1024,768);
|
||||
app->m_instancingRenderer->setCameraDistance(40);
|
||||
app->m_instancingRenderer->setCameraPitch(0);
|
||||
app->m_instancingRenderer->setCameraTargetPosition(b3MakeVector3(0,0,0));
|
||||
|
||||
app->m_window->setMouseMoveCallback(MyMouseMoveCallback);
|
||||
app->m_window->setMouseButtonCallback(MyMouseButtonCallback);
|
||||
app->m_window->setKeyboardCallback(MyKeyboardCallback);
|
||||
|
||||
BasicDemo* demo = new BasicDemo(app);
|
||||
demo->initPhysics();
|
||||
sDemo = demo;
|
||||
|
||||
GLint err = glGetError();
|
||||
assert(err==GL_NO_ERROR);
|
||||
|
||||
do
|
||||
{
|
||||
GLint err = glGetError();
|
||||
assert(err==GL_NO_ERROR);
|
||||
app->m_instancingRenderer->init();
|
||||
app->m_instancingRenderer->updateCamera();
|
||||
|
||||
demo->stepSimulation();
|
||||
demo->drawObjects();
|
||||
app->drawGrid(10,0.01);
|
||||
char bla[1024];
|
||||
static int frameCount = 0;
|
||||
frameCount++;
|
||||
sprintf(bla,"Simulation frame %d", frameCount);
|
||||
|
||||
app->drawText(bla,10,10);
|
||||
app->swapBuffer();
|
||||
} while (!app->m_window->requestedExit());
|
||||
|
||||
|
||||
demo->exitPhysics();
|
||||
delete demo;
|
||||
|
||||
delete app;
|
||||
return 0;
|
||||
}
|
||||
@@ -1,38 +0,0 @@
|
||||
|
||||
project "App2_BasicDemo"
|
||||
|
||||
language "C++"
|
||||
|
||||
kind "ConsoleApp"
|
||||
targetdir "../../../bin"
|
||||
|
||||
includedirs {
|
||||
".",
|
||||
"../../../src",
|
||||
"../../../btgui"
|
||||
}
|
||||
|
||||
initOpenGL()
|
||||
initGlew()
|
||||
|
||||
links{"gwen", "BulletDynamics", "BulletCollision","LinearMath",
|
||||
"OpenGL_Window", "OpenGL_TrueTypeFont"
|
||||
}
|
||||
|
||||
files {
|
||||
"**.cpp",
|
||||
"**.h",
|
||||
"../../../src/Bullet3Common/**.cpp",
|
||||
"../../../src/Bullet3Common/**.h",
|
||||
"../../../btgui/Timing/b3Clock.cpp",
|
||||
"../../../btgui/Timing/b3Clock.h"
|
||||
|
||||
}
|
||||
|
||||
if os.is("Linux") then
|
||||
links ("X11")
|
||||
end
|
||||
|
||||
if os.is("MacOSX") then
|
||||
links{"Cocoa.framework"}
|
||||
end
|
||||
Reference in New Issue
Block a user